JP7396677B2 - Self-propelled spraying device - Google Patents

Description

The present invention relates to a self-propelled work vehicle, and more particularly to a self-propelled spraying device for dispersing materials such as liquids and powders.

In a self-propelled spreading device that spreads materials such as powder or liquid, it is possible to deploy the device to the left and right in the direction of travel in order to widen the spreading width during spreading work, and to fold the left and right tips when not working. Are known.

Furthermore, devices are known that have a buffering function when the self-propelled spraying device comes into contact with an obstacle or the like in the unfolded position.

For example, in a conventional self-propelled spraying device, the storage structure for the boom extends outward to the left and right of the machine, the first boom on the side of the traveling machine that is folded upward, and the first boom connected to the first boom along the traveling direction of the machine. Some booms include a second boom that can be folded up, and a shock absorber that connects the folded inner corners of the second boom and the first boom.

However, in conventional self-propelled spraying devices, the boom can only rotate in one direction, that is, the front side, so if the boom collides with an obstacle from the front or back in the direction of travel, the work will be interrupted. This is because at a work site, it may be necessary to not only move backwards but also move forward to avoid obstacles.

Furthermore, if the pivot shaft protrudes laterally with respect to the aircraft body, there is a problem in that the boom cannot be rotated forward if an obstacle is located near or to the side of the traveling aircraft body.

Furthermore, conventional self-propelled spraying devices are large machines that are operated by workers, who operate them while visually observing the site. However, in the case of an unmanned, small, and remotely controllable aircraft, it is difficult to visually operate the aircraft on site, and it is also difficult to grasp the sense of distance between the traveling aircraft and its surroundings, so regardless of the direction of movement (forward or backward), There also arises the problem that the working part (spreading part) provided on the traveling machine body is easily contacted by obstacles and the like.

JP2001-293408

In view of the above background, the present invention provides a self-propelled spraying device that can properly buffer obstacles located near the sides of a traveling machine regardless of whether it is forward or backward in the traveling direction and has good work efficiency. The purpose is to

Another object of the present invention is to provide a self-propelled spraying device that can be easily applied to sites where visual control is difficult.

In order to solve the above problem, the self-propelled spraying device according to claim 1 of the present invention is provided with a machine body, a running section provided at both ends along the traveling direction of the machine body, and a traveling part that is expanded in a direction perpendicular to the traveling direction of the machine body. The dispersion section includes a first arm pivotally attached to the frame of the aircraft body, a second arm integrally connected to the first arm, and a dispersion section provided on the second arm, the second arm a dispersion pipe extending in the longitudinal direction of the arm; a first fulcrum shaft for rotating the first arm in a horizontal direction with respect to the frame is provided on either one of the first arm and the frame; A second fulcrum shaft for rotating the second arm horizontally relative to the first arm is provided on either the second arm or the first arm, and the second arm and the dispersion pipe are retracted to the rear. It can be displaced to posture B and forward retreat posture C , and from working posture A expanded in a direction perpendicular to the direction of movement of the aircraft, it horizontally rotates from the front to the rear in the direction of movement and moves backward along the direction of movement of the aircraft. It is possible to move to a retreat posture B or a forward retreat posture C along the traveling direction of the aircraft by horizontal rotation from the rear to the front, and when in the backward retreat posture, the second fulcrum axis is outwardly from the first fulcrum axis. and the second fulcrum shaft is located inside the first fulcrum shaft when in the forward retracted posture .
Further, in the self-propelled spreading device according to claim 2 of the present invention, in the self-propelled spreading device according to claim 1 , the first arm is provided with the first fulcrum shaft at one end, and the first arm is provided with the first fulcrum shaft at the other end. It is characterized by being provided with two fulcrum shafts.
Further, the self-propelled spraying device according to claim 3 of the present invention is the self-propelled spraying device according to claim 1 or 2 , wherein the first arm, the second arm, and the spraying pipe are arranged opposite to each other with respect to the traveling direction of the machine body. It is characterized by being
Further, in the self-propelled spreading device according to claim 4 of the present invention, in the self-propelled spreading device according to any one of claims 1 to 3 , the maximum rotation range of the first arm in the backward retreat position is as described above. It is characterized by backward rotation until the dispersion tube becomes parallel to the direction of travel.
Further, in the self-propelled spreading device according to claim 5 of the present invention, in the self-propelled spreading device according to any one of claims 1 to 3 , the maximum rotation range of the second arm in the forward retracted posture is as described above. It is characterized by forward rotation until the dispersion tube becomes parallel to the direction of travel.
Further, in the self-propelled spreading device according to claim 6 of the present invention, in the self-propelled spreading device according to any one of claims 1 to 5 , the first elastic body that biases the first arm is connected to the frame. It is characterized in that it is provided between the first arm and the first arm.
Further, the self-propelled spreading device according to claim 7 of the present invention is the self-propelled spreading device according to any one of claims 1 to 6 , in which the second elastic body biasing the second arm outwardly It is characterized in that it is provided on the second arm and expands the second arm in a direction perpendicular to the direction of movement when in a working posture.
Further, the self-propelled spreading device according to claim 8 of the present invention is the self-propelled spreading device according to any one of claims 1 to 7 , which can be locked in the locking hole provided in the first arm. A locking member is provided at an end of the frame.

The dispersion tube and the second arm are pressed by an obstacle, and the above-mentioned parts together with the first arm horizontally rotate from the front to the rear in the direction of travel about the first fulcrum axis, resulting in the backward retreat position B shown in Fig. 1. When rotating to the position, the dispersing tube of the dispersing section rotates rearward until it becomes parallel to the direction of travel. Therefore, the traveling machine can pass the obstacle while minimizing the total width _W2 of the machine body including the self-propelled spraying device. That is, since the traveling machine including the spraying device can easily pass through a narrow place where there are many obstacles, collisions between the spraying unit and the obstacles can be prevented.

In addition, when the dispersion section and the second arm are pressed by an obstacle, each of the above-mentioned sections horizontally rotates from the rear to the front in the direction of movement about the second fulcrum axis of the first arm, resulting in the forward retracted posture C shown in Fig. 1. When rotating to the position shown in FIG. 1, the dispersion pipe is located inside the running section, so that the dispersion section can be prevented from colliding with an obstacle.

In this way, even at sites with many obstacles, where the aircraft repeatedly moves forward and backward to avoid collisions with obstacles, the spraying unit can easily come into contact with obstacles located near the sides of the traveling aircraft. It is possible to prevent collisions.

Regarding the positional relationship between the spray pipe and the machine body, the positional relationship between the spray part and the traveling body in the retreat position, particularly in the backward retreat position B, is such that the spray part is located on the side of the machine body travel part. Therefore, the sprayed material does not fall onto the traveling machine body, and corrosion of the traveling part due to chemical liquid or the like can be prevented.

In addition, the first fulcrum shaft in working posture A is located outside the second fulcrum shaft, and the spray nozzle is provided from the inside to the outside of the first fulcrum shaft, so that the material to be spread is spread from the center of the traveling machine. It can be sprayed on the outside.

Furthermore, if a first elastic body is provided that constantly urges the first arm to face inward from the first fulcrum axis, the first arm will not pass an obstacle even if the posture is changed to the backward retreat posture B. At this time, the first arm can be immediately returned to the original position of working posture A.

In addition, if a second elastic body is provided that constantly biases the second arm so that its tip side faces in the width direction with respect to the traveling direction, the second arm can pass through the obstacle even if the posture is changed to the forward retreat posture C. At this time, the second arm can be immediately returned to its original position, which is the working posture A.

Therefore, even if the first arm and the second arm come into contact with an obstacle, they can overcome the obstacle without resisting, and immediately return to the working posture A after passing the obstacle. Work is never interrupted.

Furthermore, when a locking member for fixing the rotation of the first arm is provided, the second arm and the dispersion pipe are fixed in the backward retracted position B while being stored on the side of the traveling aircraft. The spraying part does not get in the way when traveling other than during spraying work. Therefore, smooth movement is possible.

FIG. 1 is a plan view showing an embodiment of a self-propelled spraying device according to the present invention. FIG. 2 is a front view of FIG. 1; 2 is a left side view of FIG. 1. FIG. FIG. 1 is an enlarged view of part IV of FIG. 1, showing backward retracted posture B. It is an enlarged view of part IV of FIG. 1, showing forward retracted posture C. FIG. 4 is an enlarged cross-sectional view of FIG. 4VI.

Next, a self-propelled spraying device according to an embodiment of the present invention will be described in more detail. For convenience, parts having the same functions are designated by the same reference numerals and their explanations will be omitted.

In FIGS. 1 to 6, the self-propelled spraying device includes an unmanned, small, and remotely controllable aircraft 1 that is operated by a control transmitter called a radio controller (not shown), and It consists of a traveling section 3 provided and a dispersing section 5 that expands in a direction perpendicular to the direction in which the body 1 moves. The traveling section 3 includes a traveling motor (not shown), a rear wheel serving as a driving wheel 3a, and a front wheel serving as a driven wheel 3b, and a crawler belt 3d is spanned between the two wheels via a rolling wheel 3c. The spreading section 5 includes a pair of first arms 9 that are freely pivoted to the frame 7 of the machine body 1, a pair of second arms 11 that are integrally connected to the first arms 9, and a pair of second arms 11 that are integrally connected to the first arms 9. The second arm 11 is provided with a pair of dispersion pipes 13 extending in the longitudinal direction of the second arm 11. The spray pipe 13 is provided with three spray nozzles 14a, 14b, and 14c (collectively referred to as "spray nozzles 14") from the inside to the outside. The first arm 9 is provided at one end with a first fulcrum shaft 15 for horizontally rotating the first arm 9 with respect to the frame 7, and at the other end is provided with a first fulcrum shaft 15 for rotating the first arm 9 in the horizontal direction with respect to the frame 7. A second fulcrum shaft 17 is provided that rotates horizontally with respect to the first arm 9.

As shown in FIG. 1, the second arm 11 and the dispersion pipe 13 come into contact with and are pressed by obstacles such as standing trees when moving forward, and are in a posture perpendicular to the direction of movement of the machine body 1 (working posture A). When the aircraft 1 horizontally rotates from the front to the rear in the direction of travel and shifts to a posture along the direction of movement of the aircraft 1 (backward retreat posture B), the displacement, that is, the posture is changed.
Further, as shown in FIG. 5, when the second arm 11 and the dispersion pipe 13 come into contact with or are pressed by an obstacle such as a standing tree during backward movement, they rotate horizontally from the rear to the front to advance the aircraft 1. The displacement, that is, the posture is also changed when transitioning to the posture along the direction (forward retracted posture C) (shown by a solid line in FIG. 5).

The second arm 11 and the dispersion pipe 13 have the second fulcrum shaft 17 located outside the first fulcrum shaft 15 when in the backward retreat position B, and the second fulcrum shaft 17 when in the forward retreat position C. It is located inside the first fulcrum shaft 15.

The maximum rotation range of the first arm 9 in the backward retreat position B is the backward rotation until the dispersion pipe 13 becomes parallel to the traveling direction.
Further, the maximum rotation range of the second arm 11 in the forward retreat position C is the forward rotation until the dispersion pipe 13 becomes parallel to the traveling direction.

The first arm 9 is provided with a first elastic body 19 between the frame 7 and the first arm 9, which constantly urges the first arm 9 to face inward from the first fulcrum shaft 15. . Further, the second arm 11 is provided with a second elastic body 21 that urges the second arm 11 outward, and expands the second arm 11 in a direction perpendicular to the direction of movement in the working posture A.

A locking hole 23 is provided at the end of the first arm 9 on the frame 7 side, and a locking member 25 provided on the frame 7 is removably fitted into the locking hole 23.

Here, the dimensions of each part of the self-propelled spraying device according to this embodiment will be described. The dimensions of each part and the mounting angle D between the first arm 9 and the second arm 11 are as follows.
Aircraft total length L ₁ : 1309mm
Total length _L2 from the fuselage to the spray pipe: 1536mm
Total length L ₃ in forward retreat position C: 2238mm
Overall width of the aircraft W ₁ : 648mm
Overall width W ₂ of the aircraft in backward evacuation attitude B: 973mm
Total width W ₃ when spreading pipe is expanded: 1675mm
Overall height of the aircraft H ₁ : 456mm
Spraying pipe height H ₀ : 240mm
Installation angle between the second arm and the first arm D = 30°

Next, the working posture and retreat posture of the self-propelled spraying device according to this embodiment will be explained.
In the working posture A, as shown in FIG. 1, the second arm 11 and the dispersion pipe 13 are expanded to take a posture perpendicular to the direction of movement of the aircraft 1, and in this expanded posture, the sprayed material such as a chemical solution is spread. Spread.

There are two types of retreat postures: a backward retreat posture B and a forward retreat posture C shown in FIG. In the backward retreat position B, the dispersion pipe 5 and the second arm 11 are pressed by an obstacle, and the above-mentioned parts together with the first arm 9 horizontally rotate about the first fulcrum shaft 15 from the front to the rear in the traveling direction. Therefore, the attitude is along the direction of movement of the aircraft 1. In the forward retreat position C, the dispersion unit 5 and the second arm 11 are pressed by an obstacle, and each of the above-mentioned parts horizontally rotates from the rear to the front in the traveling direction about the second fulcrum shaft 17 of the first arm 9. Therefore, the attitude is along the direction of movement of the aircraft 1.

At work sites where there are many obstacles such as dense trees, it is often necessary to move the aircraft forward or backward to avoid the obstacles. Furthermore, when a small unmanned aircraft is operated remotely as in this embodiment, it is difficult to visually check the site and to grasp the sense of distance between the traveling aircraft and its surroundings. , moving forward and backward frequently.

When rotating to the rear retreat position B, the spraying pipe 13 of the spraying section 5 rotates rearward until it becomes parallel to the traveling direction, so the traveling machine has the full width W of the machine body 1 including the spraying section 5. You can pass through obstacles with a minimum of ₂ . Also, when rotating to the forward retracted position C, the dispersion pipe 13 is located inside the traveling section 3. Therefore, it is possible to easily pass the traveling body 1 including the spraying section 5 even in a narrow place where there are many obstacles, so it is possible to prevent a collision between the spraying section 5 and the obstacles.

According to the embodiment described above, since the two-point shaft configuration is the first fulcrum shaft 15 and the second fulcrum shaft 17, the spraying section 5, especially the spraying pipe 13 and the second arm 11, have the backward retracted position B or the forward retracted position C. You can quickly and easily change your posture. Therefore, work will not be interrupted during this time. Also, since the first elastic body 19 and the second elastic body 21 are provided, the return to the working posture A from the backward retreat posture B or the forward retreat posture C can be quickly and easily carried out, and the work will not be interrupted during this time. Never.

To explain this point in more detail, when transitioning from working posture A to backward retreat posture B, the first arm 9 rotates around the first fulcrum shaft 15 and the second fulcrum shaft 17 is displaced; The second arm 11 does not rotate relative to the first arm 9. Further, when shifting from the working posture A to the forward retreat posture C, only the second arm 11 rotates about the second fulcrum shaft 17, and the first arm 9 does not rotate. That is, in the forward retreat position C, the first arm does not rotate with respect to the working position A, so there is no displacement of the first fulcrum shaft 15. As described above, according to the above embodiment, by having the two-point shaft configuration of the first fulcrum shaft 15 and the second fulcrum shaft 17, it is possible to prevent the spreader 5, particularly the spreader pipe 13 and the second arm 11, from changing when the posture is changed. Although the movement is large, the movement of the two-point axes can be made small, so posture changes can be made quickly and easily.

This point will be further explained by giving an example of failure. The reason for taking the backward retreat position B is to prevent damage to the dispersion section 5 including the dispersion pipe 13 from obstacles. In this case, if the spraying section is located above the machine body, the chemical solution may be sprayed onto the machine itself, which may cause damage to the machine due to corrosion or the like. Further, since the spraying section 5 is located above the traveling machine body, there is a concern that the spraying pipe may protrude upward and come into contact with an obstacle or the like located above.
Therefore, in this embodiment, the above-mentioned positional relationship between the spray pipe and the fuselage body is adopted.

That is, the positional relationship between the spraying section 5 and the traveling body 1 in the retreat position, particularly in the backward retreat posture B, is such that the spreading section 5 is located on the side of the body traveling section 3, as shown in FIG. 1B and FIG. Therefore, the sprayed material does not fall onto the traveling machine body, and corrosion of the traveling section 3 due to chemical liquid or the like can be prevented.

In addition, the first fulcrum shaft 15 in working posture A is located outside the second fulcrum shaft 17, and the spray nozzles 14a, 14b, and 14c are provided from the inside to the outside of the first fulcrum shaft 15, so that spraying is possible. Materials can be scattered from the center of the traveling body 1 to the outside.

Furthermore, since the first elastic body 19 always urges the first arm 9 to face inward from the first fulcrum shaft 15, even if the first arm 9 changes its posture to the backward retreat posture B, it will not be able to avoid obstacles. , the first arm 9 can be immediately returned to its original position, which is the working posture A.

In addition, since the second elastic body 21 is always biased so that the distal end side of the second arm 11 faces in the width direction with respect to the traveling direction, even if the second arm 11 changes its posture to the forward retracting posture C, it can avoid obstacles. When it passes, the second arm 11 can be immediately returned to its original position, which is the working posture A.

Therefore, even if the first arm 9 and the second arm 11 come into contact with an obstacle, they can overcome the obstacle without resisting and return to the working posture A immediately after passing the obstacle. Spraying operations will not be interrupted.

Furthermore, the rotation of the first arm 9 is fixed by the locking member 25, and thereby the second arm 11 and the dispersion pipe 13 are fixed in a state where they are stored on the side of the traveling body 1 in the backward retracted position B. Therefore, the spraying section 5 does not get in the way when traveling other than during spraying work. Therefore, smooth movement is possible.

The self-propelled spraying device according to the present invention is not limited to the embodiments described above. For example, the first fulcrum shaft 15 may be provided on the frame 7 instead of on the first arm 9 side, so that the first arm 9 can freely rotate in the horizontal direction with respect to the frame 7. Further, the second fulcrum shaft 17 may be provided not on the first arm 9 side but on the second arm 11 so that the second arm 11 can freely rotate in the horizontal direction with respect to the first arm 9. Furthermore, the spray material is optional and can be applied not only to liquids but also, for example, to powder powders.

The self-propelled spraying device according to the present invention can be used as a self-propelled spraying device that sprays materials using an unmanned, small, and remotely controllable body.

1 Body 3 Traveling part 5 Spreading part 7 Frame 9 First arm 11 Second arm 13 Spreading pipe 14 Spreading nozzle 15 First fulcrum shaft 17 Second fulcrum shaft 19 First elastic body 21 Second elastic body 23 Locking hole 25 Retainer Stopping member A Working posture B Backward retreat posture C Forward retreat posture D Mounting angle

Claims (8)

Consisting of a fuselage, a running part provided at both ends along the traveling direction of the fuselage, and a dispersing part that expands in a direction perpendicular to the traveling direction of the fuselage,
The spreading section includes a first arm that is pivotally connected to the frame of the aircraft, a second arm that is integrally connected to the first arm, and is provided on the second arm and extends in the longitudinal direction of the second arm. It consists of a dispersion pipe,
A first fulcrum shaft for rotating the first arm horizontally with respect to the frame is provided on either the first arm or the frame, and a first fulcrum shaft is provided on either the second arm or the first arm. a second fulcrum shaft for rotating the second arm in a horizontal direction with respect to the first arm;
The second arm and the dispersion pipe are movable into a backward retreat posture B and a forward retreat posture C , and are movable from the working posture A, which is expanded in a direction perpendicular to the direction of movement of the aircraft, from the front to the rear in the direction of movement. It is possible to horizontally rotate and displace to the backward retreat posture B along the traveling direction of the aircraft, or horizontally rotate from the rear to the front and displace to the forward retreat posture C along the traveling direction of the aircraft, and when in the backward retreat posture, the above-mentioned A self-propelled spraying device characterized in that two fulcrum shafts are located outside of the first fulcrum shaft, and the second fulcrum shaft is located inside of the first fulcrum shaft when in the forward retracted position . 2. The self-propelled spraying device according to claim 1 , wherein the first arm is provided with the first fulcrum shaft at one end and the second fulcrum shaft at the other end. Spraying equipment. 3. The self-propelled spraying device according to claim 1 or 2 , wherein the first arm, the second arm, and the spraying pipe are arranged opposite to each other with respect to the traveling direction of the machine body. In the self-propelled spraying device according to any one of claims 1 to 3 , the maximum rotation range of the first arm in the backward retreat position is a backward rotation until the spray pipe becomes parallel to the traveling direction. A self-propelled spraying device characterized by: In the self-propelled spraying device according to any one of claims 1 to 3 , the maximum rotation range of the second arm in the forward retreat position is a forward rotation until the spray pipe becomes parallel to the traveling direction. A self-propelled spraying device characterized by: The self-propelled spraying device according to any one of claims 1 to 5 , wherein a first elastic body that biases the first arm is provided between the frame and the first arm. A self-propelled spraying device. The self-propelled spraying device according to any one of claims 1 to 6 , wherein the second arm is provided with a second elastic body that urges the second arm outwardly, and the second arm is provided with a second elastic body that biases the second arm outwardly. A self-propelled spraying device characterized by spreading in a direction perpendicular to the direction of travel. The self-propelled spraying device according to any one of claims 1 to 7 , wherein a locking member that can be locked in a locking hole provided in the first arm is provided at an end of the frame. A self-propelled spraying device with special features.

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